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公开(公告)号：US11511800B2
公开(公告)日：2022-11-29
申请号：US16957779
申请日：2018-12-21
申请人： Robert Bosch GmbH
IPC分类号： B62D13/06 , B60D1/62 , G01B11/275 , G06V20/56
摘要： Systems and methods for determining an angle of a movement path of a trailer. The system for determining an angle of a movement path of a trailer comprises a camera; and an electronic controller communicatively coupled to the camera and configured to receive first data from the camera, determine an absolute angle of the trailer based on matching one portion of an image received in the first data to a template, receive second data from the camera, estimate a change in the angle of the trailer based on tracking one or more points on the trailer received in the second data, and determine the angle of the movement path of the trailer based upon the trailer angle and the change in the angle of the trailer.
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公开(公告)号：US20160288601A1
公开(公告)日：2016-10-06
申请号：US14675872
申请日：2015-04-01
申请人： Robert Bosch GmbH
发明人： Mark Gehrke , James Stephen Miller
IPC分类号： B60D1/36 , B62D15/02 , B60R1/00 , B60Q9/00 , G06K9/62 , G06T7/20 , B60Q5/00 , G05D1/00 , H04N5/77
CPC分类号： B60D1/36 , B60D1/06 , B60D1/62 , B60Q5/006 , B60Q9/008 , B60R1/00 , B60R1/003 , B60R2300/808 , B62D15/025 , G05D1/0088 , G06K9/6201 , G06K9/6267 , G06T2207/10016 , G06T2207/30252 , H04N5/77
摘要： A method and system for guiding a vehicle having a hitch connector to a trailer operates with a monocular vehicle video camera secured to a rear of the vehicle. In operation, the vehicle video camera generates video images from a rearward direction of the vehicle that are displayed. An electronic control unit including a processor is configured to: receive and display the video images, analyze the video images to confirm the location of a trailer coupler, analyze the video images to determine distance from a hitch connector of the vehicle to the trailer coupler, analyze the video images to determine height of the hitch connector of the vehicle, height of the trailer coupler of the trailer, and the relative height difference between the hitch connector of the vehicle and the trailer coupler of the trailer, and assist in guiding the vehicle to a trailer coupling position.
摘要翻译： 用于将具有搭接连接器的车辆引导到拖车的方法和系统与固定到车辆后部的单眼车辆视频摄像机一起操作。 在操作中，车辆摄像机从显示的车辆的向后方向生成视频图像。 包括处理器的电子控制单元被配置为：接收和显示视频图像，分析视频图像以确认拖车耦合器的位置，分析视频图像以确定从车辆的挂接连接器到拖车耦合器的距离， 分析视频图像以确定车辆的搭接连接器的高度，拖车的拖车联轴器的高度以及车辆的搭接连接器与拖车的拖车联轴器之间的相对高度差，并且辅助引导车辆 到拖车联轴器位置。
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公开(公告)号：US11794730B2
公开(公告)日：2023-10-24
申请号：US17282461
申请日：2019-10-16
申请人： Robert Bosch GmbH
IPC分类号： B60W30/09 , B60W30/095 , B60W40/12 , B60W50/14 , G06V20/56
CPC分类号： B60W30/09 , B60W30/0953 , B60W40/12 , B60W50/14 , G06V20/56 , B60W2050/146 , B60W2300/14 , B60W2420/42 , B60W2520/22 , B60W2720/10 , B60W2720/22
摘要： Detecting a damage angle between a vehicle and a trailer. One example system includes an electronic controller and a rear-view camera configured to obtain video of the trailer. The electronic controller is configured to receive the video of the trailer from the rear-view camera and determine a damage point based upon the video of the trailer. The electronic controller is further configured to determine a change in a rotation angle of the trailer and determine a changed location of the damage point of the trailer based upon the change in the rotation angle of the trailer. The electronic controller is also configured to determine a damage angle based upon the changed location of the damage point relative to the vehicle and determine at least one maneuver to avoid collision between the damage point and the vehicle based upon the damage angle.
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公开(公告)号：US11279282B2
公开(公告)日：2022-03-22
申请号：US16500739
申请日：2018-04-18
申请人： Robert Bosch GMBH
发明人： James Stephen Miller
摘要： Methods and systems for aligning a vehicle with a trailer. One system includes an image sensor configured to collect a plurality of images. The system also includes an electronic processor configured to receive the plurality of images from the image sensor. The electronic processor is also configured to determine a three-dimensional model of an area surrounding the vehicle using the plurality of images. The electronic processor is also configured to control the vehicle to automatically perform a vehicle maneuver to align the vehicle with the trailer based on the three-dimensional model of the area surrounding the vehicle. The electronic processor is also configured to determine when the vehicle is aligned with the trailer and stop the vehicle from automatically performing the vehicle maneuver when the vehicle is aligned with the trailer.
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公开(公告)号：US20210061353A1
公开(公告)日：2021-03-04
申请号：US16957779
申请日：2018-12-21
申请人： Robert Bosch GmbH
IPC分类号： B62D13/06 , B60D1/62 , G01B11/275 , G06K9/00
摘要： Systems and methods for determining an angle of a movement path of a trailer (205). The system (200) for determining an angle of a movement path of a trailer (205) comprises a camera (250); and an electronic controller (260) communicatively coupled to the camera (250) and configured to receive first data from the camera (250), determine an absolute angle of the trailer (205) based on matching one portion of an image received in the first data to a template, receive second data from the camera (250), estimate a change in the angle of the trailer (205) based on tracking one or more points on the trailer (205) received in the second data, and determine the angle of the movement path of the trailer (205) based upon the trailer angle and the change in the angle of the trailer (205).
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公开(公告)号：US20180081370A1
公开(公告)日：2018-03-22
申请号：US15273283
申请日：2016-09-22
申请人： Robert Bosch GmbH
发明人： James Stephen Miller , Mark Gehrke
CPC分类号： G05D1/0246 , B60D1/06 , B60D1/36 , B60D1/62 , B60W10/04 , B60W10/18 , B60W10/20 , B60W30/182 , B60W50/14 , B60W2420/42 , B60W2550/10 , B60W2710/00 , G05D1/0088
摘要： A method and system for determining a position of a hitch ball on a vehicle. The system performs a method that includes generating an image that includes the hitch ball with a video camera. An electronic processor that includes an electronic processor and a memory receives the image and analyzes the image to determine a distance between the hitch ball and the video camera. The electronic processor analyzes the image to determine a height of the hitch ball based on the distance between the hitch ball and the video camera.
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公开(公告)号：US20240123991A1
公开(公告)日：2024-04-18
申请号：US18046763
申请日：2022-10-14
申请人： Robert Bosch GmbH
IPC分类号： B60W30/18 , B60R1/26 , B60T8/17 , B60W10/04 , B60W10/18 , B60W10/20 , B62D15/02 , G06T7/70 , G06V20/58 , H04N7/18
CPC分类号： B60W30/18036 , B60R1/26 , B60T8/17 , B60W10/04 , B60W10/18 , B60W10/20 , B62D15/025 , G06T7/70 , G06V20/58 , H04N7/183 , B60W2420/42 , B60W2710/182 , B60W2710/207 , B60W2720/106 , G06T2207/30241 , G06T2207/30261
摘要： A trailer tow assist system including a camera that captures a rearward image of the trailer and its surroundings, a human machine interface that displays the rearward image, an input device that receives user input, and an electronic processor. The electronic processor receives the rearward image, identifies a target-space within the surroundings, determines a vehicle orientation relative to the target-space, determines a trailer angle relative to the vehicle, determines a trailer trajectory within the surroundings, and displays the trailer trajectory and rearward image on the human machine interface. The electronic processor also controls, in response to the user input, the vehicle to follow the trailer trajectory along a centerline of the trailer trajectory.
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公开(公告)号：US20230133999A1
公开(公告)日：2023-05-04
申请号：US17517383
申请日：2021-11-02
申请人： Robert Bosch GmbH
发明人： James Stephen Miller , Paul Wickett
摘要： A system and method for operating a rotatable knob module with adjustable tactile feedback. The rotatable knob module includes a knob configured to continuously rotate about a center axis and an electronic processor. The electronic processor is configured to determine a current trailer angle, define a virtual center position of the knob based on the current trailer angle, and adjust a rotational torque of the knob when the knob is rotated from a first rotational position to a second rotational position based on a relative virtual rotational distance of the second rotational position from the virtual center position.
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公开(公告)号：US10829072B2
公开(公告)日：2020-11-10
申请号：US15560383
申请日：2016-04-08
申请人： Robert Bosch GmbH
发明人： James Stephen Miller , Patrick Graf
IPC分类号： B60R21/015 , G06K9/00 , B60R21/00 , B60R21/01
摘要： A method and system for determining a size and pose of an occupant (305, 310, 315) within a vehicle interior. In one embodiment, the method includes receiving one or more images (FIG. 3) of a vehicle interior from a camera (114). The method also includes classifying interior regions (130, 132, 134, 136, 138) of the vehicle interior (100) in the one or more images. The method also includes identifying an occupant (305, 310, 315) in the one or more images based on the classification of the interior regions (130, 132, 134, 136, 138) of the vehicle interior (100). The method also includes determining a size range of the occupant (305, 310, 315) based on the classification (404) of the interior regions of the vehicle interior (100). The method also includes determining a pose of the occupant (305, 310, 315) based on the classification (404) of the interior regions of the vehicle interior (100). The method also includes controlling one or more vehicle systems (122, 124, 126, 128) based on the size and the pose of the occupant (305, 310, 315).
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公开(公告)号：US20200269852A1
公开(公告)日：2020-08-27
申请号：US16286218
申请日：2019-02-26
申请人： Robert Bosch GmbH
发明人： James Stephen Miller , Sergio Andres Amaya Correa , Bhavana Chakraborty , Frank Peter Riggi , Robert Michael Kaster
摘要： A system and method for estimating characteristics of a trailer. The system includes a trailer a vehicle with a sensor, a camera, and an electronic controller configured to receive first data from at least one of the sensor and the camera at a first location relative to the trailer, determine a second location relative to the trailer for the vehicle, the second location being a different location than the first location, generate a signal to move the vehicle from the first location to the second location, receive second data from at least one of the sensor and the camera at the second location, determine a characteristic of the trailer based upon the first data and the second data, and determine a movement behavior of the trailer based upon the characteristic before the vehicle couples to the trailer.
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